diff --git a/clevrer_lite/__init__.py b/clevrer_lite/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..4fbe66889f5d299e8c669874e1bd61418847fc06 --- /dev/null +++ b/clevrer_lite/__init__.py @@ -0,0 +1,8 @@ +"""CLEVRER-lite: a small CLEVRER-like video-reasoning environment with a gym API.""" + +from .env import CLEVRERLiteEnv +from . import config, physics, renderer, simulate, events, questions + +__all__ = ["CLEVRERLiteEnv", "config", "physics", "renderer", "simulate", + "events", "questions"] +__version__ = "0.1.0" diff --git a/clevrer_lite/config.py b/clevrer_lite/config.py new file mode 100644 index 0000000000000000000000000000000000000000..81fa22e7833c534e379cfd5a879ce7b4f6242be9 --- /dev/null +++ b/clevrer_lite/config.py @@ -0,0 +1,50 @@ +"""Global configuration: CLEVRER-style attributes, palette and physics constants.""" + +# ---------------------------------------------------------------- attributes +# The 8 CLEVRER colors (RGB, roughly matched to CLEVRER's palette). +COLORS = { + "gray": (144, 144, 148), + "red": (196, 44, 38), + "blue": ( 46, 71, 190), + "green": ( 62, 131, 55), + "brown": ( 96, 58, 33), + "purple": (110, 46, 150), + "cyan": ( 63, 156, 158), + "yellow": (196, 150, 18), +} +COLOR_NAMES = list(COLORS.keys()) + +SHAPES = ["cube", "sphere", "cylinder"] +MATERIALS = ["rubber", "metal"] +SIZES = ["small", "large"] + +# physical radius range for each size class (world units) +SIZE_RADIUS = {"small": (0.14, 0.20), "large": (0.26, 0.34)} + +# ---------------------------------------------------------------- world +WORLD_HALF = 2.0 # arena is [-WORLD_HALF, WORLD_HALF]^2 (top-down view) +SPAWN_HALF = 1.55 # objects spawn inside [-SPAWN_HALF, SPAWN_HALF]^2 + +# ---------------------------------------------------------------- physics +FRAME_DT = 1.0 / 25.0 # one rendered frame = 40 ms (25 fps) +SUBSTEPS = 5 # physics substeps per rendered frame +SUB_DT = FRAME_DT / SUBSTEPS # physics integration step + +SPEED_RANGE = (0.7, 1.7) # initial speed range for moving objects +RESTITUTION = 0.95 # object-object bounciness +WALL_RESTITUTION = 0.90 # object-wall bounciness +DRAG = 0.9992 # velocity decay per substep (tiny air drag) + +DENSITY = {"rubber": 1.0, "metal": 2.5} + +MOVE_THRESH = 0.12 # |v| above this counts as "moving" +MIN_RUN_FRAMES = 4 # a motion segment must last this many frames +MIN_EVENT_GAP_FRAMES = 6 # same-pair contacts within this window = 1 event +CAUSE_WINDOW_FRAMES = 4 # collision this close to a start-of-motion explains it + +# ---------------------------------------------------------------- probe (gym agent) +PROBE_COLOR = "gray" +PROBE_SIZE = "medium" +PROBE_RADIUS = 0.22 +PROBE_IMPULSE = 1.1 # delta-v applied to the probe ball per action +ACTION_LABELS = ["noop", "push_east", "push_north", "push_west", "push_south"] diff --git a/clevrer_lite/env.py b/clevrer_lite/env.py new file mode 100644 index 0000000000000000000000000000000000000000..fe690142b1075205e8fbc3834ca2a08ddb9012f4 --- /dev/null +++ b/clevrer_lite/env.py @@ -0,0 +1,164 @@ +"""OpenAI Gym wrapper for the CLEVRER-lite environment. + + env = CLEVRERLiteEnv() + obs, info = env.reset(seed=0) + obs, reward, terminated, truncated, info = env.step(env.action_space.sample()) + +Observation: (frame_size, frame_size, 3) uint8 RGB frame (top-down view). +Action: Discrete(5) - {noop, push probe ball E/N/W/S}. + With ``probe=False`` every action is a no-op, giving the purely + passive CLEVRER dynamics. +Reward: 0.0 (the task is video reasoning, not control). +Info: per-frame physics state + collisions so far. + +The env records the full trajectory, so after an episode you can call +``extract_events()`` / ``build_questions()`` to get CLEVRER-style annotations. +""" + +import numpy as np + +try: + import gym +except ImportError: # pragma: no cover + import gymnasium as gym +from gym import spaces + +from . import config, renderer, simulate, events as events_mod, questions as questions_mod + + +class CLEVRERLiteEnv(gym.Env): + """A CLEVRER-like world of colliding objects as a gym environment.""" + + metadata = { + "render_modes": ["rgb_array"], + "render_fps": int(round(1.0 / config.FRAME_DT)), + } + + def __init__(self, num_objects=(3, 6), num_frames=64, frame_size=128, + probe=False, min_collisions=2, min_initially_moving=2, + render_mode=None): + self.num_objects = (tuple(num_objects) if isinstance(num_objects, (tuple, list)) + else (int(num_objects), int(num_objects))) + self.num_frames = int(num_frames) + self.frame_size = int(frame_size) + self.probe = bool(probe) + self.min_collisions = int(min_collisions) + self.min_initially_moving = int(min_initially_moving) + self.render_mode = render_mode + + self.observation_space = spaces.Box(0, 255, (self.frame_size, self.frame_size, 3), + np.uint8) + self.action_space = spaces.Discrete(len(config.ACTION_LABELS)) + + # episode state + self._spec = None + self._bodies = None + self._t = 0 + self._last_obs = None + self._trajectory = None + self._collisions = [] + self._wall_hits = [] + + # ------------------------------------------------------------------ api + def reset(self, *, seed=None, options=None): + super().reset(seed=seed) + rng = self.np_random + + # sample a scene that is rich enough for causal questions + for _ in range(60): + spec = simulate.sample_spec(rng, rng.integers(self.num_objects[0], + self.num_objects[1] + 1), + probe=self.probe) + bodies = simulate.bodies_from_spec(spec) + out = simulate.rollout(bodies, self.num_frames) + ev = events_mod.extract_events(out["states"], out["collisions"], + out["wall_hits"], n=len(bodies)) + stationary = [i for i in range(len(bodies)) + if i not in ev["initially_moving"]] + if (len(ev["collisions"]) >= self.min_collisions + and len(ev["initially_moving"]) >= self.min_initially_moving + and (not self.probe or len(stationary) >= 1)): + break + else: + pass # keep the last sample even if not ideal + + self._spec = spec + self._bodies = simulate.bodies_from_spec(spec) + self._t = 0 + self._collisions = [] + self._wall_hits = [] + self._trajectory = np.zeros((self.num_frames, len(self._bodies), 4)) + self._last_obs = self._render() + return self._last_obs, self._info() + + def step(self, action): + if self._bodies is None: + raise RuntimeError("call reset() before step()") + action = int(action) + + def action_fn(t, bodies): + if self.probe and action != 0: + dirs = {1: (1, 0), 2: (0, 1), 3: (-1, 0), 4: (0, -1)} + dx, dy = dirs[action] + for b in bodies: + if b.is_probe: + b.vel = b.vel + np.array([dx, dy]) * (config.PROBE_IMPULSE / b.mass) + + out = simulate.rollout(self._bodies, 1, render_fn=None, action_fn=action_fn) + t = self._t + self._trajectory[t] = out["states"][0] + for c in out["collisions"]: + self._collisions.append((t, c[1], c[2])) + for (_, i, ax, s) in out["wall_hits"]: + self._wall_hits.append((t, i, ax, s)) + + self._t += 1 + self._last_obs = self._render() + truncated = bool(self._t >= self.num_frames) + info = self._info() + info.update({ + "frame": self._t - 1, + "collisions_so_far": len(self._collisions), + "latest_collision": self._collisions[-1] if self._collisions else None, + "truncated": truncated, + }) + return self._last_obs, 0.0, False, truncated, info + + def render(self): + return self._last_obs + + def close(self): + self._bodies = None + + # ------------------------------------------------------------ utilities + @property + def scene(self): + """Scene spec (list of dicts) of the current episode.""" + return self._spec + + @property + def trajectory(self): + """(T, n, 4) array of (x, y, vx, vy) recorded so far.""" + return self._trajectory + + def extract_events(self): + return events_mod.extract_events(self._trajectory, self._collisions, + self._wall_hits, n=len(self._bodies)) + + def build_questions(self, ev=None, max_questions=8): + ev = ev if ev is not None else self.extract_events() + return questions_mod.build_questions(self._spec, ev, self.np_random, + self.num_frames, + max_questions=max_questions) + + # ------------------------------------------------------------ internals + def _render(self): + return renderer.render(self._bodies, size=self.frame_size) + + def _info(self): + return { + "t": self._t, + "objects": [b.idx for b in self._bodies], + "positions": np.array([b.pos for b in self._bodies]), + "speeds": np.array([b.speed for b in self._bodies]), + } diff --git a/clevrer_lite/events.py b/clevrer_lite/events.py new file mode 100644 index 0000000000000000000000000000000000000000..4f34be5b9c6eb865b119f32c90b54a1603e3eb5f --- /dev/null +++ b/clevrer_lite/events.py @@ -0,0 +1,73 @@ +"""Extract causal events (collisions, starts/stops of motion) from a trajectory. + +This is what makes question generation *grounded*: every question/answer is +derived from events that verifiably happened in the recorded physics rollout. +""" + +import numpy as np + +from . import config + + +def extract_events(states, collisions, wall_hits, n): + """Args: + states: (T, n, 4) per-frame (x, y, vx, vy) + collisions: [(t, i, j)] substep-level contact log + wall_hits: [(t, i, axis, side)] + n: number of objects + + Returns dict with: + collisions: [{frame, objects:[i,j]}] grouped collision events + starts: {obj_idx: [frames]} times each object starts moving + stops: {obj_idx: [frames]} + initially_moving: [obj_idx] + moving: (T, n) bool mask + speeds: (T, n) + """ + T = states.shape[0] + speeds = np.linalg.norm(states[:, :, 2:], axis=-1) # (T, n) + moving = speeds > config.MOVE_THRESH + + # ---- group the contact log into collision events ---- + grouped = [] + for (t, i, j) in sorted(collisions, key=lambda c: c[0]): + if grouped and grouped[-1]["objects"] == [i, j] and \ + t - grouped[-1]["end"] <= config.MIN_EVENT_GAP_FRAMES: + grouped[-1]["end"] = t + else: + grouped.append({"frame": t, "end": t, "objects": [i, j]}) + collision_events = [{"frame": g["frame"], "objects": g["objects"]} for g in grouped] + + # ---- start / stop of motion per object ---- + starts, stops, initially_moving = {}, {}, [] + min_run = config.MIN_RUN_FRAMES + for o in range(n): + m = moving[:, o] + sts, sps = [], [] + t = 0 + while t < T: + if m[t]: + t2 = t + while t2 < T and m[t2]: + t2 += 1 + if t2 - t >= min_run: + if t == 0: + initially_moving.append(o) + else: + sts.append(t) + sps.append(t2) # frame where it (first) stops + t = t2 + else: + t += 1 + starts[o] = sts + stops[o] = [s for s in sps if s < T - 1] # ignore end-of-video "stop" + + return { + "collisions": collision_events, + "starts": starts, + "stops": stops, + "initially_moving": sorted(initially_moving), + "moving": moving, + "speeds": speeds, + "wall_hits": wall_hits, + } diff --git a/clevrer_lite/generate_dataset.py b/clevrer_lite/generate_dataset.py new file mode 100644 index 0000000000000000000000000000000000000000..9b9bba31ea4338def7c62bd7480c40df271d627b --- /dev/null +++ b/clevrer_lite/generate_dataset.py @@ -0,0 +1,124 @@ +#!/usr/bin/env python3 +"""Generate a small CLEVRER-lite dataset (GIF videos + JSON annotations). + +Examples: + python -m clevrer_lite.generate_dataset --num-videos 8 --num-frames 64 --frame-size 128 + python -m clevrer_lite.generate_dataset --out data/big --num-videos 1000 --num-frames 128 +""" + +import argparse +import json +import os +import time + +import numpy as np +from PIL import Image + +from . import CLEVRERLiteEnv, config, simulate + + +def describe_events(spec, ev): + """Human-readable event descriptions for the annotation file.""" + objs = {o["idx"]: o for o in spec} + + def ref(i): + return "the {} {}".format(objs[i]["color"], objs[i]["shape"]) + + collisions = [{ + "frame": e["frame"], + "objects": e["objects"], + "description": f"{ref(e['objects'][0])} collided with {ref(e['objects'][1])}", + } for e in ev["collisions"]] + + motion = [] + for o, sts in ev["starts"].items(): + for s in sts: + cause = None + for e in ev["collisions"]: + a, b = e["objects"] + if o in (a, b) and abs(e["frame"] - s) <= config.CAUSE_WINDOW_FRAMES: + cause = e + break + motion.append({"object": o, "type": "start", "frame": s, + "cause_collision": cause}) + return {"collision_events": collisions, "motion_events": motion, + "initially_moving": ev["initially_moving"]} + + +def main(): + ap = argparse.ArgumentParser(description="Generate a CLEVRER-lite dataset") + ap.add_argument("--out", default="output") + ap.add_argument("--num-videos", type=int, default=8) + ap.add_argument("--num-frames", type=int, default=64) + ap.add_argument("--frame-size", type=int, default=128) + ap.add_argument("--seed", type=int, default=0) + ap.add_argument("--gif-fps", type=int, default=12) + ap.add_argument("--max-questions", type=int, default=8) + args = ap.parse_args() + + video_dir = os.path.join(args.out, "videos") + os.makedirs(video_dir, exist_ok=True) + + env = CLEVRERLiteEnv(num_frames=args.num_frames, frame_size=args.frame_size) + annotations = [] + t0 = time.time() + + for v in range(args.num_videos): + obs, info = env.reset(seed=args.seed + v) + frames = [obs] + while True: + obs, reward, terminated, truncated, info = env.step(0) # passive + frames.append(obs) + if truncated: + break + + ev = env.extract_events() + qs = env.build_questions(ev, max_questions=args.max_questions) + ev_public = {k: v for k, v in ev.items() if k not in ("moving", "speeds")} + + fname = f"video_{v:05d}.gif" + imgs = [Image.fromarray(f) for f in frames] + imgs[0].save(os.path.join(video_dir, fname), save_all=True, + append_images=imgs[1:], duration=int(1000 / args.gif_fps), + loop=0) + + record = { + "video_index": v, + "video_filename": f"videos/{fname}", + "num_frames": args.num_frames, + "frame_size": args.frame_size, + "fps": env.metadata["render_fps"], + "scene": {"objects": env.scene}, + "events": describe_events(env.scene, ev), + "raw_events": { + "collisions": ev_public["collisions"], + "starts": {str(k): v for k, v in ev_public["starts"].items()}, + "stops": {str(k): v for k, v in ev_public["stops"].items()}, + "initially_moving": ev_public["initially_moving"], + "wall_hits": [list(map(int, w)) for w in ev_public["wall_hits"]], + }, + "questions": qs, + } + annotations.append(record) + n_col = len(ev["collisions"]) + print(f"[{v + 1}/{args.num_videos}] {fname}: " + f"{len(env.scene)} objects, {n_col} collisions, {len(qs)} questions") + + with open(os.path.join(args.out, "annotations.json"), "w") as f: + json.dump(annotations, f, indent=2) + + dt = time.time() - t0 + print(f"\nDone: {args.num_videos} videos in {dt:.1f}s " + f"({dt / args.num_videos:.2f}s/video) -> {args.out}/") + print(f"Total questions: {sum(len(a['questions']) for a in annotations)}") + + # quick distribution summary + from collections import Counter + types = Counter(q["question_type"] for a in annotations for q in a["questions"]) + print("Question types:", dict(types)) + answers = Counter(q["answer"] for a in annotations for q in a["questions"]) + print("Top answers:", dict(answers.most_common(8))) + + +if __name__ == "__main__": + main() diff --git a/clevrer_lite/physics.py b/clevrer_lite/physics.py new file mode 100644 index 0000000000000000000000000000000000000000..ef6184306652bf6ea415952190562efd066afee9 --- /dev/null +++ b/clevrer_lite/physics.py @@ -0,0 +1,98 @@ +"""Minimal 2D rigid-body physics: discs in a box with elastic collisions. + +Cubes and cylinders are *rendered* as squares / rings (top-down view, like +looking down on the CLEVRER scene) but use a circular footprint for physics. +This keeps the engine tiny, stable and fast while preserving the causal event +structure (collisions, starts/stops of motion) that CLEVRER questions need. +""" + +from dataclasses import dataclass, field +import numpy as np + +from . import config + + +@dataclass +class Body: + idx: int + color: str + shape: str + material: str + size: str + radius: float + pos: np.ndarray # (2,) world coordinates + vel: np.ndarray # (2,) + spin: float = 0.0 # visual angular velocity (rad/s) + angle: float = 0.0 # visual rotation angle (rad) + mass: float = 1.0 + is_probe: bool = False + + @property + def speed(self) -> float: + return float(np.linalg.norm(self.vel)) + + +def mass_of(radius: float, material: str) -> float: + # all shapes use a circular footprint: m = density * pi * r^2 + return config.DENSITY[material] * np.pi * radius ** 2 + + +class World: + """A box arena with elastic object-object and object-wall collisions.""" + + def __init__(self, bodies, half: float = config.WORLD_HALF): + self.bodies = list(bodies) + self.half = half + + def step(self, h: float): + """Advance physics by h seconds. + + Returns: + contacts: list of (idx_a, idx_b) pairs that collided this step + wall_hits: list of (idx, axis, side) with side in {-1, +1} + """ + contacts, wall_hits = [], [] + + # integrate + for b in self.bodies: + b.pos = b.pos + b.vel * h + b.vel = b.vel * config.DRAG + b.angle = (b.angle + b.spin * h) % (2.0 * np.pi) + + # pairwise object collisions + bs = self.bodies + for i in range(len(bs)): + for j in range(i + 1, len(bs)): + A, B = bs[i], bs[j] + d = B.pos - A.pos + dist = float(np.linalg.norm(d)) + rsum = A.radius + B.radius + if dist < rsum and dist > 1e-9: + n = d / dist + # impulse along the normal if approaching + v_rel_n = float(np.dot(B.vel - A.vel, n)) + if v_rel_n < 0.0: + e = config.RESTITUTION + jimp = -(1.0 + e) * v_rel_n / (1.0 / A.mass + 1.0 / B.mass) + A.vel = A.vel - (jimp / A.mass) * n + B.vel = B.vel + (jimp / B.mass) * n + contacts.append((A.idx, B.idx)) + # positional correction so objects never sink into each other + push = n * (0.5 * (rsum - dist)) + A.pos = A.pos - push + B.pos = B.pos + push + + # walls + for b in self.bodies: + for ax in range(2): + lim = self.half - b.radius + if b.pos[ax] > lim and b.vel[ax] > 0: + b.pos[ax] = lim + b.vel[ax] = -b.vel[ax] * config.WALL_RESTITUTION + wall_hits.append((b.idx, ax, +1)) + elif b.pos[ax] < -lim and b.vel[ax] < 0: + b.pos[ax] = -lim + b.vel[ax] = -b.vel[ax] * config.WALL_RESTITUTION + wall_hits.append((b.idx, ax, -1)) + + return contacts, wall_hits diff --git a/clevrer_lite/questions.py b/clevrer_lite/questions.py new file mode 100644 index 0000000000000000000000000000000000000000..566190e2c6ad5cc3941d4bc2e6d81ba048f72d06 --- /dev/null +++ b/clevrer_lite/questions.py @@ -0,0 +1,451 @@ +"""CLEVRER-style question generation. + +Every question is generated from the *extracted events* of the recorded +trajectory, so questions and answers are grounded in what actually happened. +Question types mirror CLEVRER: + + descriptive - single/multi-step perception on the first frame + ("How many red objects?", "What color is the sphere?") + explanatory - causal/temporal reasoning about collision & motion events + ("What happened right after ... collided?") + predictive - "Will A collide with B by the end of the video?" + counterfactual - answered by *re-simulating* the scene with one object + removed, exactly like the real CLEVRER pipeline. + +Each question carries: text, answer, multiple-choice list + answer index, +type, template id, and a simplified functional program. +""" + +import numpy as np + +from . import config, simulate + +_NOTHING = "nothing happened" + +_ATTR_ORDER = ["size", "material", "color", "shape"] + + +# -------------------------------------------------------------------------- +# helpers +# -------------------------------------------------------------------------- + +def _ref(obj, objs): + """Shortest unambiguous CLEVRER-style reference, e.g. 'the red sphere'.""" + for attrs in (("color", "shape"), ("color",), ("shape",), + ("size", "color", "shape"), ("material", "color", "shape"), + ("size", "material", "color", "shape")): + vals = tuple(obj[a] for a in attrs) + if sum(1 for o in objs if tuple(o[a] for a in attrs) == vals) == 1: + ordered = [a for a in _ATTR_ORDER if a in attrs] + return "the " + " ".join(obj[a] for a in ordered) + return f"the object {obj['idx']}" + + +def _shuffle_choices(ans, distractors, rng): + """Build a shuffled choice list; returns (choices, answer_index).""" + choices = [ans] + [d for d in distractors if d != ans] + choices = list(dict.fromkeys(choices)) # dedupe, keep order + perm = rng.permutation(len(choices)) + choices = [choices[i] for i in perm] + return choices, int(choices.index(ans)) + + +def _numeric_choices(ans, lo, hi, rng, k=6): + vals = {ans} + pool = [v for v in range(lo, hi + 1) if v != ans] + if pool: + vals |= set(int(x) for x in rng.choice(pool, size=min(k - 1, len(pool)), + replace=False)) + return [str(v) for v in sorted(vals)] + + +def _q(question, answer, choices, answer_index, qtype, template, program): + answer = str(answer) + if answer_index is None: + answer_index = choices.index(answer) + return {"question": question, "answer": answer, "choices": choices, + "answer_index": answer_index, "question_type": qtype, + "template": template, "program": program} + + +def _col_choices(ans, rng): + names = list(config.COLOR_NAMES) + perm = rng.permutation(len(names)) + choices = [names[i] for i in perm] + return choices, choices.index(ans) + + +# -------------------------------------------------------------------------- +# descriptive questions (about the first frame) +# -------------------------------------------------------------------------- + +def _descriptive(objs, ev, rng): + out = [] + n = len(objs) + pos0 = {o["idx"]: o["position"] for o in objs} + + out.append(_q("How many objects are there?", str(n), + _numeric_choices(n, 0, max(6, n), rng), None, + "descriptive", "count_all", + [{"op": "count"}])) + + # count by attribute + for key, noun in (("color", "objects"), ("shape", "objects"), + ("material", "objects")): + values = sorted({o[key] for o in objs}) + for v in values: + cnt = sum(1 for o in objs if o[key] == v) + phrase = f"How many {v} {noun} are there?" + prog = [{"op": f"filter_{key}", "value": v}, {"op": "count"}] + ch = _numeric_choices(cnt, 0, max(6, n), rng) + out.append(_q(phrase, str(cnt), ch, None, "descriptive", + f"count_{key}", prog)) + + # query color of a unique shape + for sh in config.SHAPES: + same = [o for o in objs if o["shape"] == sh] + if len(same) == 1: + o = same[0] + ch, ai = _col_choices(o["color"], rng) + out.append(_q(f"What color is the {sh}?", o["color"], ch, ai, + "descriptive", "query_color", + [{"op": "filter_shape", "value": sh}, + {"op": "query_color"}])) + + # query shape of a unique color + for col in config.COLOR_NAMES: + same = [o for o in objs if o["color"] == col] + if len(same) == 1: + o = same[0] + ch = list(config.SHAPES) + perm = rng.permutation(len(ch)) + ch = [ch[i] for i in perm] + out.append(_q(f"What shape is the {col} object?", o["shape"], ch, + list(ch).index(o["shape"]), "descriptive", + "query_shape", + [{"op": "filter_color", "value": col}, + {"op": "query_shape"}])) + + # query material of a unique color+shape + for o in objs: + same = [x for x in objs if x["color"] == o["color"] and x["shape"] == o["shape"]] + if len(same) == 1: + ch = list(config.MATERIALS) + perm = rng.permutation(len(ch)) + ch = [ch[i] for i in perm] + out.append(_q(f"What material is the {o['color']} {o['shape']} made of?", + o["material"], ch, ch.index(o["material"]), + "descriptive", "query_material", + [{"op": "filter_color", "value": o["color"]}, + {"op": "filter_shape", "value": o["shape"]}, + {"op": "query_material"}])) + + # spatial relations (margin so 'left of' is unambiguous, exactly one match) + margin = 0.6 + dirs = { + "left of": lambda a, b: (b[0] - a[0]) >= margin, # a is left of b + "right of": lambda a, b: (a[0] - b[0]) >= margin, + "behind": lambda a, b: (a[1] - b[1]) >= margin, # +y is far/back + "in front of": lambda a, b: (b[1] - a[1]) >= margin, + } + for rb in objs: + for name, fn in dirs.items(): + cands = [o for o in objs if o["idx"] != rb["idx"] and + fn(pos0[o["idx"]], pos0[rb["idx"]])] + if len(cands) == 1: + o = cands[0] + ch, ai = _col_choices(o["color"], rng) + out.append(_q(f"What color is the object {name} {_ref(rb, objs)}?", + o["color"], ch, ai, "descriptive", "query_color_rel", + [{"op": "filter_color", "value": rb["color"]}, + {"op": "relate", "direction": name.replace(" ", "_")}, + {"op": "query_color"}])) + return out + + +# -------------------------------------------------------------------------- +# explanatory questions (causal / temporal) +# -------------------------------------------------------------------------- + +def _coll_desc(objs, a, b): + return f"{_ref(a, objs)} collided with {_ref(b, objs)}" + + +def _explanatory(objs, ev, rng): + out = [] + cev = ev["collisions"] + idx_of = {o["idx"]: o for o in objs} + refc = {o["idx"]: _ref(o, objs) for o in objs} + + if not cev: + return out + + def ev_desc(e): + a, b = e["objects"] + return _coll_desc(objs, idx_of[a], idx_of[b]) + + # what happened right after / before a collision + for k, e in enumerate(cev): + for direction, other in (("after", k + 1), ("before", k - 1)): + ans = ev_desc(cev[other]) if 0 <= other < len(cev) else _NOTHING + distractors = [ev_desc(x) for i, x in enumerate(cev) + if i not in (k, other)] + for (t, i, ax, s) in ev["wall_hits"][:40]: + d = f"{refc[i]} collided with the wall" + if d not in distractors: + distractors.append(d) + for o, sts in ev["starts"].items(): + if o in refc and sts: + d = f"{refc[o]} started moving" + if d not in distractors: + distractors.append(d) + if ans != _NOTHING and _NOTHING not in distractors: + distractors.append(_NOTHING) + if len(distractors) < 3: + continue + rng.shuffle(distractors) + distractors = distractors[:3] + a, b = e["objects"] + ch, ai = _shuffle_choices(ans, distractors, rng) + out.append(_q(f"What happened right {direction} " + f"{ev_desc(e)}?", ans, ch, ai, "explanatory", + f"what_happened_{direction}", + [{"op": "find_collision", "objects": [a, b]}, + {"op": f"query_{direction}_event"}])) + + # what caused an object to start moving + for o_idx, sts in ev["starts"].items(): + if o_idx not in idx_of: + continue + for s in sts: + cause = None + for e in cev: + a, b = e["objects"] + if o_idx in (a, b) and abs(e["frame"] - s) <= config.CAUSE_WINDOW_FRAMES: + cause = b if a == o_idx else a + break + if cause is None: + continue + ans = f"the collision with {refc[cause]}" + others = [p for e in cev for p in e["objects"] + if p not in (o_idx, cause) and p in refc] + distractors = [f"the collision with {refc[p]}" for p in dict.fromkeys(others)] + distractors += ["it was pushed by the wall", "nothing - it was already moving"] + rng.shuffle(distractors) + ch, ai = _shuffle_choices(ans, distractors[:3], rng) + out.append(_q(f"What caused {refc[o_idx]} to start moving?", ans, ch, ai, + "explanatory", "cause_of_motion", + [{"op": "filter_object", "idx": o_idx}, + {"op": "query_motion_cause"}])) + + # which object started moving right before / after a collision + for e in cev: + a, b = e["objects"] + t = e["frame"] + for direction, lo, hi, pick in (("after", t + 1, t + 12, min), + ("before", max(1, t - 12), t, max)): + cands = [(s, o) for o, ss in ev["starts"].items() + if o not in (a, b) and o in idx_of for s in ss + if lo <= s <= hi] + if not cands: + continue + _, ans_o = pick(cands) + ans = refc[ans_o] + others = [o for o in objs if o["idx"] not in (ans_o, a, b)] + distractors = [_ref(o, objs) for o in others] + distractors.append("none of them") + rng.shuffle(distractors) + ch, ai = _shuffle_choices(ans, distractors[:3], rng) + out.append(_q(f"Which object started moving right {direction} " + f"{ev_desc(e)}?", ans, ch, ai, "explanatory", + f"who_started_{direction}", + [{"op": "find_collision", "objects": [a, b]}, + {"op": f"query_{direction}_motion_start"}])) + + # how many objects were moving when a collision happened + for e in cev: + a, b = e["objects"] + t = min(e["frame"], ev["moving"].shape[0] - 1) + cnt = int(ev["moving"][t].sum()) + ch = _numeric_choices(cnt, 0, len(objs), rng) + out.append(_q(f"How many objects were moving when {ev_desc(e)}?", + str(cnt), ch, None, "explanatory", "count_moving_at", + [{"op": "find_collision", "objects": [a, b]}, + {"op": "count_moving_at_collision"}])) + + # total number of collisions + if len(cev) >= 2: + ch = _numeric_choices(len(cev), 0, max(6, len(cev) + 1), rng) + out.append(_q("How many collisions happened in the video?", + str(len(cev)), ch, None, "explanatory", + "count_collisions", + [{"op": "filter_event", "type": "collision"}, {"op": "count"}])) + return out + + +# -------------------------------------------------------------------------- +# predictive questions (binary, grounded in the full recorded trajectory) +# -------------------------------------------------------------------------- + +def _predictive(objs, ev, rng): + out = [] + cev = ev["collisions"] + idx_of = {o["idx"]: o for o in objs} + pairs_collided = {tuple(sorted(e["objects"])) for e in cev} + all_pairs = [tuple(sorted((a["idx"], b["idx"]))) + for i, a in enumerate(objs) for b in objs[i + 1:]] + + def binary_q(pair, ans_yes, template): + a, b = pair + ch = ["yes", "no"] + rng.shuffle(ch) + ans = "yes" if ans_yes else "no" + return _q(f"Will {_ref(idx_of[a], objs)} collide with " + f"{_ref(idx_of[b], objs)} by the end of the video?", + ans, ch, ch.index(ans), "predictive", template, + [{"op": "find_collision", "objects": [a, b]}, + {"op": "query_existence"}]) + + yes_pairs = [p for p in pairs_collided] + no_pairs = [p for p in all_pairs if p not in pairs_collided] + if yes_pairs: + p = yes_pairs[int(rng.integers(len(yes_pairs)))] + out.append(binary_q(p, True, "will_collide")) + if no_pairs: + p = no_pairs[int(rng.integers(len(no_pairs)))] + out.append(binary_q(p, False, "will_collide")) + + # after colliding with b, will a collide with something else? + for e in cev: + a, b = e["objects"] + later = [x for x in cev if x is not e and a in x["objects"] + and x["frame"] > e["frame"]] + if not later and len(cev) < 2: + continue + ans = "yes" if later else "no" + ch = ["yes", "no"] + rng.shuffle(ch) + out.append(_q(f"After {_coll_desc(objs, idx_of[a], idx_of[b])}, " + f"will {_ref(idx_of[a], objs)} collide with something else?", + ans, ch, ch.index(ans), "predictive", "will_collide_again", + [{"op": "find_collision", "objects": [a, b]}, + {"op": "query_subsequent_collision"}])) + return out + + +# -------------------------------------------------------------------------- +# counterfactual questions (re-simulate the scene with one object removed) +# -------------------------------------------------------------------------- + +def _counterfactual(objs, ev, rng, num_frames): + out = [] + cev = ev["collisions"] + if not cev or len(objs) < 3: + return out + idx_of = {o["idx"]: o for o in objs} + refc = {o["idx"]: _ref(o, objs) for o in objs} + + cache = {} + + def cf_events(z): + if z not in cache: + cache[z] = simulate.resimulate_without( + [dict(s) for s in objs], z, num_frames) + return cache[z] + + def binary(ans_yes, question, template, program): + ch = ["yes", "no"] + rng.shuffle(ch) + ans = "yes" if ans_yes else "no" + out.append(_q(question, ans, ch, ch.index(ans), "counterfactual", + template, program)) + + # would a still collide with b without z? + for e in cev: + a, b = e["objects"] + others = [o["idx"] for o in objs if o["idx"] not in (a, b)] + for z in others: + cf = cf_events(z) + still = any(set(x["objects"]) == {a, b} for x in cf["collisions"]) + binary(still, + f"If {refc[z]} were removed, would {refc[a]} still collide " + f"with {refc[b]}?", + "cf_collision", + [{"op": "remove_object", "idx": z}, + {"op": "find_collision", "objects": [a, b]}, + {"op": "query_existence"}]) + + # would o still start moving without z (z can be its collision partner)? + for o_idx, sts in ev["starts"].items(): + if not sts or o_idx not in idx_of: + continue + partners = set() + for e in cev: + if o_idx in e["objects"]: + partners |= {p for p in e["objects"] if p != o_idx} + others = list(partners) + [o["idx"] for o in objs + if o["idx"] not in {o_idx} | partners] + for z in dict.fromkeys(others): + cf = cf_events(z) + still = (o_idx in cf["initially_moving"]) or bool(cf["starts"].get(o_idx)) + binary(still, + f"If {refc[z]} were removed, would {refc[o_idx]} still " + f"start moving?", + "cf_motion", + [{"op": "remove_object", "idx": z}, + {"op": "filter_object", "idx": o_idx}, + {"op": "query_motion_start"}]) + return out + + +# -------------------------------------------------------------------------- +# orchestration +# -------------------------------------------------------------------------- + +def build_questions(spec, ev, rng, num_frames, max_questions=8): + """Return a list of question dicts sampled across the 4 CLEVRER types.""" + objs = [s for s in spec if not s.get("is_probe")] + probe_idx = {s["idx"] for s in spec if s.get("is_probe")} + + if probe_idx: # drop probe objects from question-relevant events + ev = { + "collisions": [e for e in ev["collisions"] if not probe_idx & set(e["objects"])], + "starts": {k: v for k, v in ev["starts"].items() if k not in probe_idx}, + "stops": {k: v for k, v in ev["stops"].items() if k not in probe_idx}, + "initially_moving": [k for k in ev["initially_moving"] if k not in probe_idx], + "moving": ev["moving"], + "speeds": ev["speeds"], + "wall_hits": [w for w in ev["wall_hits"] if w[1] not in probe_idx], + } + + pools = { + "descriptive": _descriptive(objs, ev, rng), + "explanatory": _explanatory(objs, ev, rng), + "predictive": _predictive(objs, ev, rng), + "counterfactual": _counterfactual(objs, ev, rng, num_frames), + } + + quotas = [("descriptive", 3), ("explanatory", 2), + ("predictive", 1), ("counterfactual", 2)] + picked, seen = [], set() + + def take(pool, k): + pool = [q for q in pool if q["question"] not in seen] + rng.shuffle(pool) + for q in pool[:k]: + seen.add(q["question"]) + picked.append(q) + + for qtype, k in quotas: + take(pools[qtype], k) + leftover = [q for pool in pools.values() for q in pool + if q["question"] not in seen] + rng.shuffle(leftover) + for q in leftover: + if len(picked) >= max_questions: + break + seen.add(q["question"]) + picked.append(q) + + rng.shuffle(picked) + return picked diff --git a/clevrer_lite/renderer.py b/clevrer_lite/renderer.py new file mode 100644 index 0000000000000000000000000000000000000000..8d653ebab827664389552f5f50ed38ce69383fb0 --- /dev/null +++ b/clevrer_lite/renderer.py @@ -0,0 +1,104 @@ +"""Top-down PIL renderer for the 2D CLEVRER-lite world. + +Sphere -> shaded disc with a specular highlight +Cube -> rotated square with beveled edges +Cylinder-> ring (dark side + lighter top face), as seen from above +Metal -> brighter material with a strong specular; rubber is matte. +""" + +import numpy as np +from PIL import Image, ImageDraw + +from . import config + +_LIGHT = np.array([-0.6, -0.8]) # light comes from top-left + + +def _shade(rgb, factor): + return tuple(int(min(255, max(0, c * factor))) for c in rgb) + + +def _background(size): + top = np.array([128.0, 128.0, 133.0]) + bot = np.array([100.0, 100.0, 106.0]) + rows = np.linspace(0.0, 1.0, size)[:, None] + grad = top[None, :] * (1.0 - rows) + bot[None, :] * rows # (size, 3) + arr = np.repeat(grad[:, None, :], size, axis=1) # (size, size, 3) + return arr.astype(np.uint8) + + +def render(bodies, size: int = 128, half: float = config.WORLD_HALF) -> np.ndarray: + """Render a list of Body objects into an (size, size, 3) uint8 array.""" + ss = 2 # 2x supersampling for anti-aliasing + S = size * ss + scale = S / (2.0 * half) + + def to_px(p): + return (p[0] + half) * scale, (half - p[1]) * scale # flip y: +y is "behind" + + img = Image.fromarray(_background(S), "RGB") + + # ---- soft ground shadows (drawn on an RGBA overlay) ---- + shadow = Image.new("RGBA", (S, S), (0, 0, 0, 0)) + sd = ImageDraw.Draw(shadow) + off = 0.05 * scale + for b in bodies: + cx, cy = to_px(b.pos) + r = b.radius * scale + sd.ellipse([cx - r + off, cy - r + off * 0.5, cx + r + off, cy + r + off * 0.5], + fill=(15, 15, 20, 60)) + img = Image.alpha_composite(img.convert("RGBA"), shadow).convert("RGB") + + d = ImageDraw.Draw(img) + spec = Image.new("RGBA", (S, S), (0, 0, 0, 0)) + spd = ImageDraw.Draw(spec) + + for b in sorted(bodies, key=lambda x: -x.radius): + base = np.array(config.COLORS[b.color], dtype=float) + if b.material == "metal": + base = np.clip(base * 1.25 + 28, 0, 255) + base = tuple(int(c) for c in base) + cx, cy = to_px(b.pos) + r = b.radius * scale + + if b.shape == "sphere": + d.ellipse([cx - r, cy - r, cx + r, cy + r], fill=_shade(base, 0.72)) + d.ellipse([cx - 0.92 * r, cy - 0.92 * r, cx + 0.92 * r, cy + 0.92 * r], + fill=base) + hi_a = 210 if b.material == "metal" else 90 + spd.ellipse([cx - 0.45 * r, cy - 0.55 * r, cx - 0.05 * r, cy - 0.15 * r], + fill=(255, 255, 255, hi_a)) + + elif b.shape == "cube": + hs = r * 0.88 # half side s.t. area ~ circle + ang = b.angle + ca, sa = np.cos(ang), np.sin(ang) + corners = [] + for dx, dy in ((-1, -1), (1, -1), (1, 1), (-1, 1)): + corners.append((cx + hs * (dx * ca - dy * sa), + cy + hs * (dx * sa + dy * ca))) + d.polygon(corners, fill=base) + # bevel: edges facing the light are bright, others dark + for k in range(4): + a_, b_ = corners[k], corners[(k + 1) % 4] + ex, ey = b_[0] - a_[0], b_[1] - a_[1] + ln = np.hypot(ex, ey) + 1e-9 + nx, ny = -ey / ln, ex / ln # outward normal (polygon is CCW on screen) + if nx * _LIGHT[0] + ny * _LIGHT[1] < 0: + col = _shade(base, 1.45 if b.material == "metal" else 1.22) + else: + col = _shade(base, 0.55) + d.line([a_, b_], fill=col, width=max(2, int(0.06 * r))) + + else: # cylinder seen from above: dark rim + lighter top face + d.ellipse([cx - r, cy - r, cx + r, cy + r], fill=_shade(base, 0.62)) + d.ellipse([cx - 0.78 * r, cy - 0.78 * r, cx + 0.78 * r, cy + 0.78 * r], + fill=base) + spd.ellipse([cx - 0.5 * r, cy - 0.55 * r, cx - 0.1 * r, cy - 0.2 * r], + fill=(255, 255, 255, 200 if b.material == "metal" else 70)) + + img = Image.alpha_composite(img.convert("RGBA"), spec).convert("RGB") + + # downsample for anti-aliasing + img = img.resize((size, size), Image.LANCZOS) + return np.asarray(img, dtype=np.uint8) diff --git a/clevrer_lite/simulate.py b/clevrer_lite/simulate.py new file mode 100644 index 0000000000000000000000000000000000000000..c698fca3b83e43581d092bcde1bb2978e42ae19f --- /dev/null +++ b/clevrer_lite/simulate.py @@ -0,0 +1,153 @@ +"""Scene sampling, deterministic rollout, and counterfactual re-simulation.""" + +import numpy as np + +from . import config, physics, events as events_mod + + +# -------------------------------------------------------------------------- +# scene specification (serializable dicts) <-> Body objects +# -------------------------------------------------------------------------- + +def sample_spec(rng, n_objects=None, probe=False): + """Sample a random CLEVRER-style scene spec (list of dicts).""" + n = int(n_objects if n_objects is not None else rng.integers(3, 7)) # 3..6 + colors = rng.permutation(config.COLOR_NAMES)[:n] # unique colors + shapes = rng.choice(config.SHAPES, size=n) + materials = rng.choice(config.MATERIALS, size=n) + sizes = rng.choice(config.SIZES, size=n) + + # non-overlapping positions (rejection sampling) + radii = np.array([rng.uniform(*config.SIZE_RADIUS[s]) for s in sizes]) + positions = np.zeros((n, 2)) + placed = 0 + tries = 0 + while placed < n: + tries += 1 + if tries > 4000: + raise RuntimeError("could not place objects without overlap") + p = rng.uniform(-config.SPAWN_HALF, config.SPAWN_HALF, size=2) + ok = True + for k in range(placed): + if np.linalg.norm(p - positions[k]) < radii[k] + radii[placed] + 0.22: + ok = False + break + if ok: + positions[placed] = p + placed += 1 + + # at least 2 objects moving, at least one stationary (for causal questions) + n_moving = int(rng.integers(2, min(n, 4) + 1)) + moving_idx = set(rng.permutation(n)[:n_moving].tolist()) + + spec = [] + for i in range(n): + v = np.zeros(2) + if i in moving_idx: + theta = rng.uniform(0, 2 * np.pi) + speed = rng.uniform(*config.SPEED_RANGE) + v = np.array([np.cos(theta), np.sin(theta)]) * speed + spec.append({ + "idx": i, + "color": str(colors[i]), + "shape": str(shapes[i]), + "material": str(materials[i]), + "size": str(sizes[i]), + "radius": float(radii[i]), + "position": positions[i].tolist(), + "velocity": v.tolist(), + "spin": float(rng.uniform(-1.5, 1.5)), + "is_probe": False, + }) + + if probe: + theta = rng.uniform(0, 2 * np.pi) + spec.append({ + "idx": n, "color": config.PROBE_COLOR, "shape": "sphere", + "material": "metal", "size": config.PROBE_SIZE, + "radius": config.PROBE_RADIUS, + "position": rng.uniform(-config.SPAWN_HALF, config.SPAWN_HALF, size=2).tolist(), + "velocity": [0.0, 0.0], + "spin": 0.0, "is_probe": True, + }) + return spec + + +def bodies_from_spec(spec): + from dataclasses import fields as dc_fields + bodies = [] + for s in spec: + kwargs = {k: s[k] for k in ("idx", "color", "shape", "material", "size", + "radius", "spin", "is_probe")} + kwargs["pos"] = np.array(s["position"], dtype=float) + kwargs["vel"] = np.array(s["velocity"], dtype=float) + kwargs["mass"] = physics.mass_of(s["radius"], s["material"]) + kwargs["angle"] = 0.0 + bodies.append(physics.Body(**kwargs)) + return bodies + + +def spec_of(bodies): + return [{ + "idx": b.idx, "color": b.color, "shape": b.shape, "material": b.material, + "size": b.size, "radius": float(b.radius), + "position": b.pos.tolist(), "velocity": b.vel.tolist(), + "spin": float(b.spin), "is_probe": b.is_probe, + } for b in bodies] + + +# -------------------------------------------------------------------------- +# rollout +# -------------------------------------------------------------------------- + +def rollout(bodies, num_frames, render_fn=None, action_fn=None): + """Run a deterministic rollout (physics never uses RNG). + + Args: + bodies: list[Body] (mutated in place). + num_frames: number of rendered frames. + render_fn: optional callable(bodies) -> frame array. + action_fn: optional callable(t, bodies) applied at the start of frame t + (used by the gym env for probe-ball actions). + + Returns: + dict with states (T, n, 4), collisions [(t, i, j)], wall_hits [(t, i, ax, s)], + and frames (T, H, W, 3) if render_fn was given. + """ + world = physics.World(bodies) + n = len(bodies) + states = np.zeros((num_frames, n, 4), dtype=float) + collisions, wall_hits = [], [] + frames = [] if render_fn is not None else None + + for t in range(num_frames): + if action_fn is not None: + action_fn(t, bodies) + for _ in range(config.SUBSTEPS): + contacts, hits = world.step(config.SUB_DT) + for (i, j) in contacts: + collisions.append((t, i, j)) + for (i, ax, s) in hits: + wall_hits.append((t, i, ax, s)) + for k, b in enumerate(bodies): + states[t, k] = (b.pos[0], b.pos[1], b.vel[0], b.vel[1]) + if render_fn is not None: + frames.append(render_fn(bodies)) + + return {"states": states, "collisions": collisions, "wall_hits": wall_hits, + "frames": frames} + + +# -------------------------------------------------------------------------- +# counterfactual re-simulation (the CLEVRER trick: remove an object, re-run) +# -------------------------------------------------------------------------- + +def resimulate_without(spec, removed_idx, num_frames): + """Deep-copy the scene minus one object, re-run physics, extract events.""" + import copy + spec2 = copy.deepcopy([s for s in spec if s["idx"] != removed_idx]) + bodies = bodies_from_spec(spec2) + out = rollout(bodies, num_frames, render_fn=None) + ev = events_mod.extract_events(out["states"], out["collisions"], + out["wall_hits"], n=len(bodies)) + return ev diff --git a/demo_episode.gif b/demo_episode.gif new file mode 100644 index 0000000000000000000000000000000000000000..3e9a1ef9c8ab0251540c920c69846157a75c3ceb --- /dev/null +++ b/demo_episode.gif @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b5e50b9e5da560a88e1946781a54f1a5a84dd5f99bd977f9d86832fffe7a4474 +size 144934 diff --git a/output/annotations.json b/output/annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..fc168624a6b929a02d7bad97864bd3724bc17bf4 --- /dev/null +++ b/output/annotations.json @@ -0,0 +1,3237 @@ +[ + { + "video_index": 0, + "video_filename": "videos/video_00000.gif", + "num_frames": 64, + "frame_size": 128, + "fps": 25, + "scene": { + "objects": [ + { + "idx": 0, + "color": "blue", + "shape": "cube", + "material": "metal", + "size": "small", + "radius": 0.14201513451832787, + "position": [ + -0.23966961428725875, + -1.462209019449065 + ], + "velocity": [ + -0.8609936860984196, + -0.5796115807438419 + ], + "spin": -0.3251429984155163, + "is_probe": false + }, + { + "idx": 1, + "color": "brown", + "shape": "cylinder", + "material": "metal", + "size": "large", + "radius": 0.31837243571439555, + "position": [ + -1.164721842851352, + 0.5289356855502538 + ], + "velocity": [ + 0.0, + 0.0 + ], + "spin": 1.170823056014377, + "is_probe": false + }, + { + 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"5": [] + }, + "initially_moving": [ + 0, + 2, + 5 + ], + "wall_hits": [ + [ + 5, + 5, + 1, + 1 + ], + [ + 17, + 0, + 1, + -1 + ], + [ + 27, + 2, + 1, + 1 + ], + [ + 30, + 4, + 0, + 1 + ], + [ + 52, + 0, + 0, + -1 + ], + [ + 62, + 4, + 1, + -1 + ] + ] + }, + "questions": [ + { + "question": "Will the green sphere collide with the gray sphere by the end of the video?", + "answer": "yes", + "choices": [ + "yes", + "no" + ], + "answer_index": 0, + "question_type": "predictive", + "template": "will_collide", + "program": [ + { + "op": "find_collision", + "objects": [ + 2, + 5 + ] + }, + { + "op": "query_existence" + } + ] + }, + { + "question": "If the cyan cylinder were removed, would the purple sphere still collide with the gray sphere?", + "answer": "yes", + "choices": [ + "no", + "yes" + ], + "answer_index": 1, + "question_type": "counterfactual", + "template": "cf_collision", + "program": [ + { + "op": "remove_object", + "idx": 3 + }, + { + "op": "find_collision", + "objects": [ + 4, + 5 + ] + }, + { + "op": "query_existence" + } + ] + }, + { + "question": "What happened right before the green sphere collided with the gray sphere?", + "answer": "the purple sphere collided with the gray sphere", + "choices": [ + "the purple sphere collided with the wall", + "the purple sphere started moving", + "the purple sphere collided with the gray sphere", + "nothing happened" + ], + "answer_index": 2, + "question_type": "explanatory", + "template": "what_happened_before", + "program": [ + { + "op": "find_collision", + "objects": [ + 2, + 5 + ] + }, + { + "op": "query_before_event" + } + ] + }, + { + "question": "What shape is the green object?", + "answer": "sphere", + "choices": [ + "cube", + "sphere", + "cylinder" + ], + "answer_index": 1, + "question_type": "descriptive", + "template": "query_shape", + "program": [ + { + "op": "filter_color", + "value": "green" + }, + { + "op": "query_shape" + } + ] + }, + { + "question": "What shape is the blue object?", + "answer": "cube", + "choices": [ + "cylinder", + "sphere", + "cube" + ], + "answer_index": 2, + "question_type": "descriptive", + "template": "query_shape", + "program": [ + { + "op": "filter_color", + "value": "blue" + }, + { + "op": "query_shape" + } + ] + }, + { + "question": "What color is the object left of the blue cube?", + "answer": "brown", + "choices": [ + "cyan", + "green", + "gray", + "red", + "brown", + "blue", + "yellow", + "purple" + ], + "answer_index": 4, + "question_type": "descriptive", + "template": "query_color_rel", + "program": [ + { + "op": "filter_color", + "value": "blue" + }, + { + "op": "relate", + "direction": "left_of" + }, + { + "op": "query_color" + } + ] + }, + { + "question": "If the cyan cylinder were removed, would the purple sphere still start moving?", + "answer": "yes", + "choices": [ + "no", + "yes" + ], + "answer_index": 1, + "question_type": "counterfactual", + "template": "cf_motion", + "program": [ + { + "op": "remove_object", + "idx": 3 + }, + { + "op": "filter_object", + "idx": 4 + }, + { + "op": "query_motion_start" + } + ] + }, + { + "question": "How many objects were moving when the purple sphere collided with the gray sphere?", + "answer": "4", + "choices": [ + "0", + "1", + "2", + "3", + "4", + "5" + ], + "answer_index": 4, + "question_type": "explanatory", + "template": "count_moving_at", + "program": [ + { + "op": "find_collision", + "objects": [ + 4, + 5 + ] + }, + { + "op": "count_moving_at_collision" + } + ] + } + ] + }, + { + "video_index": 1, + "video_filename": "videos/video_00001.gif", + "num_frames": 64, + "frame_size": 128, + "fps": 25, + "scene": { + "objects": [ + { + "idx": 0, + "color": "purple", + "shape": "cylinder", + "material": "rubber", + "size": "small", + "radius": 0.17228859879315672, + "position": [ + -0.14415654260998023, + -1.1344707385337893 + ], + "velocity": [ + 0.0, + 0.0 + ], + "spin": -0.6693263878638875, + "is_probe": false + }, + { + "idx": 1, + "color": "gray", + "shape": "sphere", + 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brown cylinder" + }, + { + "frame": 55, + "objects": [ + 0, + 3 + ], + "description": "the purple cylinder collided with the brown cylinder" + } + ], + "motion_events": [ + { + "object": 0, + "type": "start", + "frame": 55, + "cause_collision": { + "frame": 55, + "objects": [ + 0, + 3 + ] + } + }, + { + "object": 2, + "type": "start", + "frame": 40, + "cause_collision": { + "frame": 40, + "objects": [ + 2, + 3 + ] + } + } + ], + "initially_moving": [ + 1, + 3 + ] + }, + "raw_events": { + "collisions": [ + { + "frame": 40, + "objects": [ + 2, + 3 + ] + }, + { + "frame": 55, + "objects": [ + 0, + 3 + ] + } + ], + "starts": { + "0": [ + 55 + ], + "1": [], + "2": [ + 40 + ], + "3": [] + }, + "stops": { + "0": [], + "1": [], + "2": [], + "3": [] + }, + "initially_moving": [ + 1, + 3 + ], + "wall_hits": [ + [ + 19, + 1, + 1, + 1 + ] + ] + }, + "questions": [ + { + "question": "After the red cube collided with the brown cylinder, will the red cube collide with something else?", + "answer": "no", + "choices": [ + "no", + "yes" + ], + "answer_index": 0, + "question_type": "predictive", + "template": "will_collide_again", + "program": [ + { + "op": "find_collision", + "objects": [ + 2, + 3 + ] + }, + { + "op": "query_subsequent_collision" + } + ] + }, + { + "question": "What caused the purple cylinder to start moving?", + "answer": "the collision with the brown cylinder", + "choices": [ + "it was pushed by the wall", + "nothing - it was already moving", + "the collision with the red cube", + "the collision with the brown cylinder" + ], + "answer_index": 3, + "question_type": "explanatory", + "template": "cause_of_motion", + "program": [ + { + "op": "filter_object", + "idx": 0 + }, + { + "op": "query_motion_cause" + } + ] + }, + { + "question": "If the brown cylinder were removed, would the purple cylinder still start moving?", + "answer": "no", + "choices": [ + "yes", + "no" + ], + "answer_index": 1, + "question_type": "counterfactual", + "template": "cf_motion", + "program": [ + { + "op": "remove_object", + "idx": 3 + }, + { + "op": "filter_object", + "idx": 0 + }, + { + "op": "query_motion_start" + } + ] + }, + { + "question": "If the gray sphere were removed, would the purple cylinder still collide with the brown cylinder?", + "answer": "yes", + "choices": [ + "no", + "yes" + ], + "answer_index": 1, + "question_type": "counterfactual", + "template": "cf_collision", + "program": [ + { + "op": "remove_object", + "idx": 1 + }, + { + "op": "find_collision", + "objects": [ + 0, + 3 + ] + }, + { + "op": "query_existence" + } + ] + }, + { + "question": "How many objects are there?", + "answer": "4", + "choices": [ + "0", + "1", + "2", + "3", + "4", + "5" + ], + "answer_index": 4, + "question_type": "descriptive", + "template": "count_all", + "program": [ + { + "op": "count" + } + ] + }, + { + "question": "How many sphere objects are there?", + "answer": "1", + "choices": [ + "0", + "1", + "3", + "4", + "5", + "6" + ], + "answer_index": 1, + "question_type": "descriptive", + "template": "count_shape", + "program": [ + { + "op": "filter_shape", + "value": "sphere" + }, + { + "op": "count" + } + ] + }, + { + "question": "How many collisions happened in the video?", + "answer": "2", + "choices": [ + "0", + "1", + "2", + "3", + "5", + "6" + ], + "answer_index": 2, + "question_type": "explanatory", + "template": "count_collisions", + "program": [ + { + "op": "filter_event", + "type": "collision" + }, + { + "op": "count" + } + ] + }, + { + "question": "What shape is the gray object?", + "answer": "sphere", + "choices": [ + "cube", + "cylinder", + "sphere" + ], + "answer_index": 2, + "question_type": "descriptive", + "template": "query_shape", + "program": [ + { + "op": "filter_color", + "value": "gray" + }, + { + "op": "query_shape" + } + ] + } + ] + }, + { + "video_index": 2, + "video_filename": "videos/video_00002.gif", + "num_frames": 64, + "frame_size": 128, + "fps": 25, + "scene": { + "objects": [ + { + "idx": 0, + "color": 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"description": "the blue cylinder collided with the red cube" + }, + { + "frame": 57, + "objects": [ + 0, + 1 + ], + "description": "the blue cylinder collided with the yellow cube" + }, + { + "frame": 61, + "objects": [ + 0, + 4 + ], + "description": "the blue cylinder collided with the red cube" + } + ], + "motion_events": [ + { + "object": 4, + "type": "start", + "frame": 48, + "cause_collision": { + "frame": 48, + "objects": [ + 0, + 4 + ] + } + }, + { + "object": 5, + "type": "start", + "frame": 10, + "cause_collision": { + "frame": 10, + "objects": [ + 0, + 5 + ] + } + } + ], + "initially_moving": [ + 0, + 1, + 2 + ] + }, + "raw_events": { + "collisions": [ + { + "frame": 10, + "objects": [ + 0, + 5 + ] + }, + { + "frame": 48, + "objects": [ + 0, + 4 + ] + }, + { + "frame": 57, + "objects": [ + 0, + 1 + ] + }, + { + "frame": 61, + "objects": [ + 0, + 4 + ] + } + ], + "starts": { + "0": [], + "1": [], + "2": [], + "3": [], + "4": [ + 48 + ], + "5": [ + 10 + ] + }, + "stops": { + "0": [], + "1": [], + "2": [], + "3": [], + "4": [], + "5": [] + }, + "initially_moving": [ + 0, + 1, + 2 + ], + "wall_hits": [ + [ + 12, + 1, + 1, + 1 + ], + [ + 53, + 5, + 1, + -1 + ], + [ + 58, + 2, + 1, + -1 + ] + ] + }, + "questions": [ + { + "question": "What happened right after the blue cylinder collided with the red cube?", + "answer": "nothing happened", + "choices": [ + "the yellow cube collided with the wall", + "nothing happened", + "the cyan sphere collided with the wall", + "the blue cylinder collided with the green sphere" + ], + "answer_index": 1, + "question_type": "explanatory", + "template": "what_happened_after", + "program": [ + { + "op": "find_collision", + "objects": [ + 0, + 4 + ] + }, + { + "op": "query_after_event" + } + ] + }, + { + "question": "If the green sphere were removed, would the blue cylinder still collide with the red cube?", + "answer": "yes", + "choices": [ + "yes", + "no" + ], + "answer_index": 0, + "question_type": "counterfactual", + "template": "cf_collision", + "program": [ + { + "op": "remove_object", + "idx": 5 + }, + { + "op": "find_collision", + "objects": [ + 0, + 4 + ] + }, + { + "op": "query_existence" + } + ] + }, + { + "question": "If the red cube were removed, would the blue cylinder still collide with the yellow cube?", + "answer": "yes", + "choices": [ + "yes", + "no" + ], + "answer_index": 0, + "question_type": "counterfactual", + "template": "cf_collision", + "program": [ + { + "op": "remove_object", + "idx": 4 + }, + { + "op": "find_collision", + "objects": [ + 0, + 1 + ] + }, + { + "op": "query_existence" + } + ] + }, + { + "question": "What material is the yellow cube made of?", + "answer": "metal", + "choices": [ + "rubber", + "metal" + ], + "answer_index": 1, + "question_type": "descriptive", + "template": "query_material", + "program": [ + { + "op": "filter_color", + "value": "yellow" + }, + { + "op": "filter_shape", + "value": "cube" + }, + { + "op": "query_material" + } + ] + }, + { + "question": "How many purple objects are there?", + "answer": "1", + "choices": [ + "0", + "1", + "2", + "3", + "4", + "6" + ], + "answer_index": 1, + "question_type": "descriptive", + "template": "count_color", + "program": [ + { + "op": "filter_color", + "value": "purple" + }, + { + "op": "count" + } + ] + }, + { + "question": "After the blue cylinder collided with the red cube, will the blue cylinder collide with something else?", + "answer": "yes", + "choices": [ + "yes", + "no" + ], + "answer_index": 0, + "question_type": "predictive", + "template": "will_collide_again", + "program": [ + { + "op": "find_collision", + "objects": [ + 0, + 4 + ] + }, + { + "op": "query_subsequent_collision" + } + ] + }, + { + "question": "How many objects were moving when the blue cylinder collided with the red cube?", + "answer": "5", + "choices": [ + "0", + "1", + "3", + "4", + "5", + "6" + ], + "answer_index": 4, + "question_type": "explanatory", + "template": "count_moving_at", + "program": [ + { 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"answer": "1", + "choices": [ + "0", + "1", + "3", + "4", + "5", + "6" + ], + "answer_index": 1, + "question_type": "descriptive", + "template": "count_color", + "program": [ + { + "op": "filter_color", + "value": "green" + }, + { + "op": "count" + } + ] + }, + { + "question": "How many blue objects are there?", + "answer": "1", + "choices": [ + "0", + "1", + "2", + "4", + "5", + "6" + ], + "answer_index": 1, + "question_type": "descriptive", + "template": "count_color", + "program": [ + { + "op": "filter_color", + "value": "blue" + }, + { + "op": "count" + } + ] + }, + { + "question": "Will the brown sphere collide with the cyan cylinder by the end of the video?", + "answer": "no", + "choices": [ + "yes", + "no" + ], + "answer_index": 1, + "question_type": "predictive", + "template": "will_collide", + "program": [ + { + "op": "find_collision", + "objects": [ + 1, + 5 + ] + }, + { + "op": "query_existence" + } + ] + } + ] + }, + { + "video_index": 3, + "video_filename": 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"question": "How many cube objects are there?", + "answer": "2", + "choices": [ + "1", + "2", + "3", + "4", + "5", + "6" + ], + "answer_index": 1, + "question_type": "descriptive", + "template": "count_shape", + "program": [ + { + "op": "filter_shape", + "value": "cube" + }, + { + "op": "count" + } + ] + }, + { + "question": "What happened right after the red sphere collided with the blue cube?", + "answer": "the cyan sphere collided with the blue cube", + "choices": [ + "nothing happened", + "the red sphere started moving", + "the cyan sphere collided with the wall", + "the cyan sphere collided with the blue cube" + ], + "answer_index": 3, + "question_type": "explanatory", + "template": "what_happened_after", + "program": [ + { + "op": "find_collision", + "objects": [ + 2, + 3 + ] + }, + { + "op": "query_after_event" + } + ] + }, + { + "question": "What material is the gray cylinder made of?", + "answer": "rubber", + "choices": [ + "metal", + "rubber" + ], + "answer_index": 1, + 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"op": "filter_object", + "idx": 2 + }, + { + "op": "query_motion_start" + } + ] + }, + { + "question": "What happened right after the red cylinder collided with the gray cylinder?", + "answer": "nothing happened", + "choices": [ + "the purple cylinder collided with the wall", + "the red cylinder collided with the wall", + "the cyan cube started moving", + "nothing happened" + ], + "answer_index": 3, + "question_type": "explanatory", + "template": "what_happened_after", + "program": [ + { + "op": "find_collision", + "objects": [ + 0, + 1 + ] + }, + { + "op": "query_after_event" + } + ] + }, + { + "question": "What happened right after the gray cylinder collided with the purple cylinder?", + "answer": "the gray cylinder collided with the cyan cube", + "choices": [ + "the purple cylinder collided with the wall", + "the gray cylinder collided with the cyan cube", + "the purple cylinder started moving", + "the cyan cube started moving" + ], + "answer_index": 1, + "question_type": 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"find_collision", + "objects": [ + 2, + 4 + ] + }, + { + "op": "query_before_event" + } + ] + }, + { + "question": "If the green sphere were removed, would the purple cylinder still collide with the yellow cylinder?", + "answer": "yes", + "choices": [ + "no", + "yes" + ], + "answer_index": 1, + "question_type": "counterfactual", + "template": "cf_collision", + "program": [ + { + "op": "remove_object", + "idx": 1 + }, + { + "op": "find_collision", + "objects": [ + 2, + 4 + ] + }, + { + "op": "query_existence" + } + ] + }, + { + "question": "After the blue cylinder collided with the red cylinder, will the blue cylinder collide with something else?", + "answer": "no", + "choices": [ + "yes", + "no" + ], + "answer_index": 1, + "question_type": "predictive", + "template": "will_collide_again", + "program": [ + { + "op": "find_collision", + "objects": [ + 0, + 3 + ] + }, + { + "op": "query_subsequent_collision" + } + ] + }, + { + "question": "If the blue cylinder were removed, would the red 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"How many rubber objects are there?", + "answer": "2", + "choices": [ + "0", + "1", + "2", + "4", + "5", + "6" + ], + "answer_index": 2, + "question_type": "descriptive", + "template": "count_material", + "program": [ + { + "op": "filter_material", + "value": "rubber" + }, + { + "op": "count" + } + ] + }, + { + "question": "How many blue objects are there?", + "answer": "1", + "choices": [ + "0", + "1", + "2", + "4", + "5", + "6" + ], + "answer_index": 1, + "question_type": "descriptive", + "template": "count_color", + "program": [ + { + "op": "filter_color", + "value": "blue" + }, + { + "op": "count" + } + ] + } + ] + }, + { + "video_index": 32, + "video_filename": "videos/video_00032.gif", + "num_frames": 64, + "frame_size": 128, + "fps": 25, + "scene": { + "objects": [ + { + "idx": 0, + "color": "yellow", + "shape": "cube", + "material": "metal", + "size": "small", + "radius": 0.14793106088735652, + "position": [ + 1.0953522396235116, + -1.3031123173549064 + ], + "velocity": [ + 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"video_index": 34, + "video_filename": "videos/video_00034.gif", + "num_frames": 64, + "frame_size": 128, + "fps": 25, + "scene": { + "objects": [ + { + "idx": 0, + "color": "green", + "shape": "cube", + "material": "metal", + "size": "large", + "radius": 0.31790494750323384, + "position": [ + -0.8197185247874776, + -0.5002451997050024 + ], + "velocity": [ + -1.033338683654779, + 0.4768343563031309 + ], + "spin": 0.6977794017699939, + "is_probe": false + }, + { + "idx": 1, + "color": "brown", + "shape": "sphere", + "material": "rubber", + "size": "large", + "radius": 0.33092005100403993, + "position": [ + 1.0984876761584392, + -0.19257643484098086 + ], + "velocity": [ + 0.0, + 0.0 + ], + "spin": 1.354441984485395, + "is_probe": false + }, + { + "idx": 2, + "color": "blue", + "shape": "cube", + "material": "rubber", + "size": "large", + "radius": 0.3339083391368025, + "position": [ + 0.22711347761751788, + 0.2787497877638361 + ], + "velocity": [ + 0.0, + 0.0 + ], + "spin": 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"question": "How many red objects are there?", + "answer": "1", + "choices": [ + "0", + "1", + "2", + "3", + "4", + "5" + ], + "answer_index": 1, + "question_type": "descriptive", + "template": "count_color", + "program": [ + { + "op": "filter_color", + "value": "red" + }, + { + "op": "count" + } + ] + }, + { + "question": "If the cyan cube were removed, would the purple sphere still start moving?", + "answer": "no", + "choices": [ + "yes", + "no" + ], + "answer_index": 1, + "question_type": "counterfactual", + "template": "cf_motion", + "program": [ + { + "op": "remove_object", + "idx": 3 + }, + { + "op": "filter_object", + "idx": 0 + }, + { + "op": "query_motion_start" + } + ] + }, + { + "question": "Which object started moving right after the purple sphere collided with the cyan cube?", + "answer": "the brown cube", + "choices": [ + "the yellow cylinder", + "the red cylinder", + "the brown cube", + "none of them" + ], + "answer_index": 2, + "question_type": "explanatory", + 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red cylinder made of?", + "answer": "metal", + "choices": [ + "rubber", + "metal" + ], + "answer_index": 1, + "question_type": "descriptive", + "template": "query_material", + "program": [ + { + "op": "filter_color", + "value": "red" + }, + { + "op": "filter_shape", + "value": "cylinder" + }, + { + "op": "query_material" + } + ] + }, + { + "question": "How many metal objects are there?", + "answer": "4", + "choices": [ + "1", + "2", + "3", + "4", + "5", + "6" + ], + "answer_index": 3, + "question_type": "descriptive", + "template": "count_material", + "program": [ + { + "op": "filter_material", + "value": "metal" + }, + { + "op": "count" + } + ] + }, + { + "question": "What caused the brown cube to start moving?", + "answer": "the collision with the yellow cylinder", + "choices": [ + "the collision with the cyan cube", + "it was pushed by the wall", + "the collision with the purple sphere", + "the collision with the yellow cylinder" + ], + "answer_index": 3, + "question_type": 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{ + "op": "filter_object", + "idx": 1 + }, + { + "op": "query_motion_start" + } + ] + }, + { + "question": "What happened right after the gray cylinder collided with the blue cylinder?", + "answer": "the red cube collided with the gray cylinder", + "choices": [ + "the red cube started moving", + "nothing happened", + "the blue cylinder collided with the wall", + "the red cube collided with the gray cylinder" + ], + "answer_index": 3, + "question_type": "explanatory", + "template": "what_happened_after", + "program": [ + { + "op": "find_collision", + "objects": [ + 2, + 3 + ] + }, + { + "op": "query_after_event" + } + ] + }, + { + "question": "After the red cube collided with the gray cylinder, will the red cube collide with something else?", + "answer": "no", + "choices": [ + "no", + "yes" + ], + "answer_index": 0, + "question_type": "predictive", + "template": "will_collide_again", + "program": [ + { + "op": "find_collision", + "objects": [ + 1, + 2 + ] + }, + { + "op": 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"answer_index": 1, + "question_type": "descriptive", + "template": "query_shape", + "program": [ + { + "op": "filter_color", + "value": "purple" + }, + { + "op": "query_shape" + } + ] + }, + { + "question": "How many objects were moving when the green cube collided with the gray cube?", + "answer": "5", + "choices": [ + "0", + "1", + "3", + "4", + "5", + "6" + ], + "answer_index": 4, + "question_type": "explanatory", + "template": "count_moving_at", + "program": [ + { + "op": "find_collision", + "objects": [ + 0, + 5 + ] + }, + { + "op": "count_moving_at_collision" + } + ] + } + ] + }, + { + "video_index": 92, + "video_filename": "videos/video_00092.gif", + "num_frames": 64, + "frame_size": 128, + "fps": 25, + "scene": { + "objects": [ + { + "idx": 0, + "color": "cyan", + "shape": "cube", + "material": "metal", + "size": "large", + "radius": 0.2797355226979047, + "position": [ + -1.3506636081046024, + 0.0187968758696071 + ], + "velocity": [ + 0.0, + 0.0 + ], + "spin": 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"object": 0, + "type": "start", + "frame": 11, + "cause_collision": { + "frame": 11, + "objects": [ + 0, + 2 + ] + } + }, + { + "object": 5, + "type": "start", + "frame": 4, + "cause_collision": { + "frame": 4, + "objects": [ + 4, + 5 + ] + } + } + ], + "initially_moving": [ + 1, + 2, + 4 + ] + }, + "raw_events": { + "collisions": [ + { + "frame": 4, + "objects": [ + 4, + 5 + ] + }, + { + "frame": 11, + "objects": [ + 0, + 2 + ] + }, + { + "frame": 42, + "objects": [ + 4, + 5 + ] + } + ], + "starts": { + "0": [ + 11 + ], + "1": [], + "2": [], + "3": [], + "4": [], + "5": [ + 4 + ] + }, + "stops": { + "0": [], + "1": [], + "2": [], + "3": [], + "4": [], + "5": [] + }, + "initially_moving": [ + 1, + 2, + 4 + ], + "wall_hits": [ + [ + 20, + 5, + 0, + -1 + ], + [ + 48, + 1, + 1, + -1 + ], + [ + 56, + 2, + 0, + -1 + ], + [ + 60, + 2, + 1, + 1 + ] + ] + }, + "questions": [ + { + "question": "If the gray cube were removed, would the cyan cube still start moving?", + "answer": "yes", + "choices": [ + "no", + "yes" + ], + "answer_index": 1, + "question_type": "counterfactual", + "template": "cf_motion", + "program": [ + { + "op": "remove_object", + "idx": 4 + }, + { + "op": "filter_object", + "idx": 0 + }, + { + "op": "query_motion_start" + } + ] + }, + { + "question": "What color is the object right of the yellow cube?", + "answer": "purple", + "choices": [ + "yellow", + "purple", + "cyan", + "green", + "brown", + "gray", + "blue", + "red" + ], + "answer_index": 1, + "question_type": "descriptive", + "template": "query_color_rel", + "program": [ + { + "op": "filter_color", + "value": "yellow" + }, + { + "op": "relate", + "direction": "right_of" + }, + { + "op": "query_color" + } + ] + }, + { + "question": "How many rubber objects are there?", + "answer": "1", + "choices": [ + "0", + "1", + "2", + "3", + "4", + "6" + ], + "answer_index": 1, + "question_type": "descriptive", + "template": "count_material", + "program": [ + { + "op": "filter_material", + "value": "rubber" + }, + { + "op": "count" + } + ] + }, + { + "question": "What material is the gray cube made of?", + "answer": "metal", + "choices": [ + "metal", + "rubber" + ], + "answer_index": 0, + "question_type": "descriptive", + "template": "query_material", + "program": [ + { + "op": "filter_color", + "value": "gray" + }, + { + "op": "filter_shape", + "value": "cube" + }, + { + "op": "query_material" + } + ] + }, + { + "question": "What happened right after the gray cube collided with the blue sphere?", + "answer": "the cyan cube collided with the red cylinder", + "choices": [ + "the blue sphere collided with the wall", + "the cyan cube started moving", + "the cyan cube collided with the red cylinder", + "the purple sphere collided with the wall" + ], + "answer_index": 2, + "question_type": "explanatory", + "template": "what_happened_after", + "program": [ + { + "op": "find_collision", + "objects": [ + 4, + 5 + ] + }, + { + "op": "query_after_event" + } + ] + }, + { + "question": "How many objects were moving when the gray cube collided with the blue sphere?", + "answer": "4", + "choices": [ + "0", + "1", + "3", + "4", + "5", + "6" + ], + "answer_index": 3, + "question_type": "explanatory", + "template": "count_moving_at", + "program": [ + { + "op": "find_collision", + "objects": [ + 4, + 5 + ] + }, + { + "op": "count_moving_at_collision" + } + ] + }, + { + "question": "If the purple sphere were removed, would the cyan cube still collide with the red cylinder?", + "answer": "yes", + "choices": [ + "yes", + "no" + ], + "answer_index": 0, + "question_type": "counterfactual", + "template": "cf_collision", + "program": [ + { + "op": "remove_object", + "idx": 1 + }, + { + "op": "find_collision", + "objects": [ + 0, + 2 + ] + }, + { + "op": "query_existence" + } + ] + }, + { + "question": "After the gray cube collided with the blue sphere, will the gray cube collide with something else?", + "answer": "yes", + "choices": [ + "no", + "yes" + ], + "answer_index": 1, + 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[], + "4": [] + }, + "stops": { + "0": [], + "1": [], + "2": [], + "3": [], + "4": [] + }, + "initially_moving": [ + 3, + 4 + ], + "wall_hits": [ + [ + 47, + 2, + 1, + -1 + ], + [ + 58, + 3, + 1, + -1 + ] + ] + }, + "questions": [ + { + "question": "After the cyan sphere collided with the green cylinder, will the cyan sphere collide with something else?", + "answer": "no", + "choices": [ + "yes", + "no" + ], + "answer_index": 1, + "question_type": "predictive", + "template": "will_collide_again", + "program": [ + { + "op": "find_collision", + "objects": [ + 2, + 3 + ] + }, + { + "op": "query_subsequent_collision" + } + ] + }, + { + "question": "What happened right after the cyan sphere collided with the green cylinder?", + "answer": "the purple cylinder collided with the green cylinder", + "choices": [ + "the green cylinder collided with the wall", + "the purple cylinder collided with the green cylinder", + "the cyan sphere started moving", + "the red sphere collided with the brown 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"blue", + "brown", + "green", + "yellow", + "red", + "purple", + "cyan", + "gray" + ], + "answer_index": 1, + "question_type": "descriptive", + "template": "query_color_rel", + "program": [ + { + "op": "filter_color", + "value": "gray" + }, + { + "op": "relate", + "direction": "left_of" + }, + { + "op": "query_color" + } + ] + }, + { + "question": "Will the cyan cylinder collide with the brown cube by the end of the video?", + "answer": "no", + "choices": [ + "yes", + "no" + ], + "answer_index": 1, + "question_type": "predictive", + "template": "will_collide", + "program": [ + { + "op": "find_collision", + "objects": [ + 1, + 3 + ] + }, + { + "op": "query_existence" + } + ] + }, + { + "question": "What happened right before the cyan cylinder collided with the yellow sphere?", + "answer": "the gray cylinder collided with the brown cube", + "choices": [ + "the yellow sphere started moving", + "nothing happened", + "the gray cylinder collided with the brown cube", + "the cyan cylinder 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"answer_index": 0, + "question_type": "counterfactual", + "template": "cf_collision", + "program": [ + { + "op": "remove_object", + "idx": 0 + }, + { + "op": "find_collision", + "objects": [ + 1, + 4 + ] + }, + { + "op": "query_existence" + } + ] + }, + { + "question": "If the purple sphere were removed, would the yellow cube still collide with the blue cube?", + "answer": "yes", + "choices": [ + "no", + "yes" + ], + "answer_index": 1, + "question_type": "counterfactual", + "template": "cf_collision", + "program": [ + { + "op": "remove_object", + "idx": 3 + }, + { + "op": "find_collision", + "objects": [ + 1, + 2 + ] + }, + { + "op": "query_existence" + } + ] + }, + { + "question": "How many sphere objects are there?", + "answer": "2", + "choices": [ + "0", + "2", + "3", + "4", + "5", + "6" + ], + "answer_index": 1, + "question_type": "descriptive", + "template": "count_shape", + "program": [ + { + "op": "filter_shape", + "value": "sphere" + }, + { + "op": "count" + } + ] + }, + { + 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